Provides a ROS wrapper for the navfn planner which runs a fast, interpolated navigation function on a costmap. More...

#include <navfn_ros.h>

Inheritance diagram for iri_bspline_navfn::NavfnROS:

Public Member Functions
bool	computePotential (const geometry_msgs::Point &world_point)
	Computes the full navigation function for the map given a point in the world to start from.
bool	getPlanFromPotential (const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first)
double	getPointPotential (const geometry_msgs::Point &world_point)
	Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first)
void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the NavFnROS object.
bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Given a goal pose in the world, compute a plan.
bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan)
	Given a goal pose in the world, compute a plan.
bool	makePlanService (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp)
	NavfnROS ()
	Default constructor for the NavFnROS object.
	NavfnROS (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Constructor for the NavFnROS object.
void	publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, double r, double g, double b, double a)
	Publish a path for visualization purposes.
bool	validPointPotential (const geometry_msgs::Point &world_point)
	Check for a valid potential value at a given point in the world (Note: You should call computePotential first)
bool	validPointPotential (const geometry_msgs::Point &world_point, double tolerance)
	Check for a valid potential value at a given point in the world (Note: You should call computePotential first)
	~NavfnROS ()
Protected Member Functions
virtual void	getCostmap (costmap_2d::Costmap2D &costmap)
	Store a copy of the current costmap in costmap. Called by makePlan.
Protected Attributes
bool	allow_unknown_
double	circumscribed_radius_
costmap_2d::Costmap2DROS *	costmap_ros_
double	inflation_radius_
bool	initialized_
double	inscribed_radius_
ros::Publisher	plan_pub_
boost::shared_ptr< NavFn >	planner_
pcl_ros::Publisher< PotarrPoint >	potarr_pub_
bool	visualize_potential_
Private Member Functions
void	clearRobotCell (const tf::Stamped< tf::Pose > &global_pose, unsigned int mx, unsigned int my)
void	mapToWorld (double mx, double my, double &wx, double &wy)
double	sq_distance (const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2)
Private Attributes
costmap_2d::Costmap2D	costmap_
costmap_2d::Costmap2DPublisher *	costmap_publisher_
double	default_tolerance_
ros::ServiceServer	make_plan_srv_
boost::mutex	mutex_
double	planner_window_x_
double	planner_window_y_
std::string	tf_prefix_

Detailed Description

Provides a ROS wrapper for the navfn planner which runs a fast, interpolated navigation function on a costmap.

Definition at line 58 of file navfn_ros.h.

Constructor & Destructor Documentation

iri_bspline_navfn::NavfnROS::NavfnROS ( )

Default constructor for the NavFnROS object.

Definition at line 45 of file navfn_ros.cpp.

iri_bspline_navfn::NavfnROS::NavfnROS	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructor for the NavFnROS object.

Parameters:

name	The name of this planner
costmap_ros	A pointer to the ROS wrapper of the costmap to use

Definition at line 48 of file navfn_ros.cpp.

iri_bspline_navfn::NavfnROS::~NavfnROS ( ) [inline]

Definition at line 142 of file navfn_ros.h.

Member Function Documentation

void iri_bspline_navfn::NavfnROS::clearRobotCell	(	const tf::Stamped< tf::Pose > &	global_pose,
		unsigned int	mx,
		unsigned int	my
	)		`[private]`

Definition at line 179 of file navfn_ros.cpp.

bool iri_bspline_navfn::NavfnROS::computePotential ( const geometry_msgs::Point & world_point )

Computes the full navigation function for the map given a point in the world to start from.

Parameters:

world_point The point to use for seeding the navigation function

Returns:: True if the navigation function was computed successfully, false otherwise

Definition at line 148 of file navfn_ros.cpp.

void iri_bspline_navfn::NavfnROS::getCostmap ( costmap_2d::Costmap2D & costmap ) [protected, virtual]

Store a copy of the current costmap in costmap. Called by makePlan.

Definition at line 198 of file navfn_ros.cpp.

bool iri_bspline_navfn::NavfnROS::getPlanFromPotential	(	const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first)

Parameters:

goal	The goal pose to create a plan to
plan	The plan... filled by the planner

Returns:: True if a valid plan was found, false otherwise

Definition at line 419 of file navfn_ros.cpp.

double iri_bspline_navfn::NavfnROS::getPointPotential ( const geometry_msgs::Point & world_point )

Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first)

Parameters:

world_point The point to get the potential for

Returns:: The navigation function's value at that point in the world

Definition at line 134 of file navfn_ros.cpp.

void iri_bspline_navfn::NavfnROS::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		`[virtual]`

Initialization function for the NavFnROS object.

Parameters:

name	The name of this planner
costmap_ros	A pointer to the ROS wrapper of the costmap to use for planning

Implements nav_core::BaseGlobalPlanner.

Definition at line 54 of file navfn_ros.cpp.

bool iri_bspline_navfn::NavfnROS::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)		`[virtual]`

Given a goal pose in the world, compute a plan.

Parameters:

start	The start pose
goal	The goal pose
plan	The plan... filled by the planner

Returns:: True if a valid plan was found, false otherwise

Implements nav_core::BaseGlobalPlanner.

Definition at line 240 of file navfn_ros.cpp.

bool iri_bspline_navfn::NavfnROS::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

Given a goal pose in the world, compute a plan.

Parameters:

start	The start pose
goal	The goal pose
tolerance	The tolerance on the goal point for the planner
plan	The plan... filled by the planner

Returns:: True if a valid plan was found, false otherwise

Definition at line 245 of file navfn_ros.cpp.

bool iri_bspline_navfn::NavfnROS::makePlanService	(	nav_msgs::GetPlan::Request &	req,
		nav_msgs::GetPlan::Response &	resp
	)

Definition at line 226 of file navfn_ros.cpp.

void iri_bspline_navfn::NavfnROS::mapToWorld	(	double	mx,
		double	my,
		double &	wx,
		double &	wy
	)		`[private]`

Definition at line 235 of file navfn_ros.cpp.

void iri_bspline_navfn::NavfnROS::publishPlan	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		double	r,
		double	g,
		double	b,
		double	a
	)

Publish a path for visualization purposes.

Definition at line 395 of file navfn_ros.cpp.

double iri_bspline_navfn::NavfnROS::sq_distance	(	const geometry_msgs::PoseStamped &	p1,
		const geometry_msgs::PoseStamped &	p2
	)		`[inline, private]`

Definition at line 161 of file navfn_ros.h.

bool iri_bspline_navfn::NavfnROS::validPointPotential ( const geometry_msgs::Point & world_point )

Check for a valid potential value at a given point in the world (Note: You should call computePotential first)

Parameters:

world_point The point to get the potential for

Returns:: True if the navigation function is valid at that point in the world, false otherwise

Definition at line 103 of file navfn_ros.cpp.

bool iri_bspline_navfn::NavfnROS::validPointPotential	(	const geometry_msgs::Point &	world_point,
		double	tolerance
	)

Check for a valid potential value at a given point in the world (Note: You should call computePotential first)

Parameters:

world_point	The point to get the potential for
tolerance	The tolerance on searching around the world_point specified

Returns:: True if the navigation function is valid at that point in the world, false otherwise

Definition at line 107 of file navfn_ros.cpp.

Member Data Documentation

bool iri_bspline_navfn::NavfnROS::allow_unknown_ [protected]

Definition at line 157 of file navfn_ros.h.

double iri_bspline_navfn::NavfnROS::circumscribed_radius_ [protected]

Definition at line 154 of file navfn_ros.h.

costmap_2d::Costmap2D iri_bspline_navfn::NavfnROS::costmap_ [private]

Definition at line 169 of file navfn_ros.h.

costmap_2d::Costmap2DPublisher* iri_bspline_navfn::NavfnROS::costmap_publisher_ [private]

Definition at line 171 of file navfn_ros.h.

costmap_2d::Costmap2DROS* iri_bspline_navfn::NavfnROS::costmap_ros_ [protected]

Definition at line 152 of file navfn_ros.h.

double iri_bspline_navfn::NavfnROS::default_tolerance_ [private]

Definition at line 170 of file navfn_ros.h.

double iri_bspline_navfn::NavfnROS::inflation_radius_ [protected]

Definition at line 154 of file navfn_ros.h.

bool iri_bspline_navfn::NavfnROS::initialized_ [protected]

Definition at line 157 of file navfn_ros.h.

double iri_bspline_navfn::NavfnROS::inscribed_radius_ [protected]

Definition at line 154 of file navfn_ros.h.

ros::ServiceServer iri_bspline_navfn::NavfnROS::make_plan_srv_ [private]

Definition at line 174 of file navfn_ros.h.

boost::mutex iri_bspline_navfn::NavfnROS::mutex_ [private]

Definition at line 173 of file navfn_ros.h.

ros::Publisher iri_bspline_navfn::NavfnROS::plan_pub_ [protected]

Definition at line 155 of file navfn_ros.h.

boost::shared_ptr<NavFn> iri_bspline_navfn::NavfnROS::planner_ [protected]

Definition at line 153 of file navfn_ros.h.

double iri_bspline_navfn::NavfnROS::planner_window_x_ [private]

Definition at line 170 of file navfn_ros.h.

double iri_bspline_navfn::NavfnROS::planner_window_y_ [private]

Definition at line 170 of file navfn_ros.h.

pcl_ros::Publisher<PotarrPoint> iri_bspline_navfn::NavfnROS::potarr_pub_ [protected]

Definition at line 156 of file navfn_ros.h.

std::string iri_bspline_navfn::NavfnROS::tf_prefix_ [private]

Definition at line 172 of file navfn_ros.h.

bool iri_bspline_navfn::NavfnROS::visualize_potential_ [protected]

Definition at line 157 of file navfn_ros.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation